base/include/asm-arm/rtai_lxrt.h

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/*
 * Stuff related to hard-realtime in user-space.
 *
 * Original RTAI/x86 layer implementation:
 *   Copyright (c) 2000 Paolo Mantegazza (mantegazza@aero.polimi.it)
 *   Copyright (c) 2000 Steve Papacharalambous (stevep@zentropix.com)
 *   Copyright (c) 2000 Stuart Hughes
 *   and others.
 *
 * RTAI/x86 rewrite over Adeos:
 *   Copyright (c) 2002 Philippe Gerum (rpm@xenomai.org)
 *
 * Original RTAI/ARM RTHAL implementation:
 *   Copyright (c) 2000 Pierre Cloutier (pcloutier@poseidoncontrols.com)
 *   Copyright (c) 2001 Alex Züpke, SYSGO RTS GmbH (azu@sysgo.de)
 *   Copyright (c) 2002 Guennadi Liakhovetski DSA GmbH (gl@dsa-ac.de)
 *   Copyright (c) 2002 Steve Papacharalambous (stevep@zentropix.com)
 *   Copyright (c) 2002 Wolfgang Müller (wolfgang.mueller@dsa-ac.de)
 *   Copyright (c) 2003 Bernard Haible, Marconi Communications
 *   Copyright (c) 2003 Thomas Gleixner (tglx@linutronix.de)
 *   Copyright (c) 2003 Philippe Gerum (rpm@xenomai.org)
 *
 * RTAI/ARM over Adeos rewrite:
 *   Copyright (c) 2004-2005 Michael Neuhauser, Firmix Software GmbH (mike@firmix.at)
 *
 *
 * This library is free software; you can redistribute it and/or modify it under
 * the terms of the GNU Lesser General Public License as published by the Free
 * Software Foundation; either version 2 of the License, or (at your option) any
 * later version.
 *
 * This library is distributed in the hope that it will be useful, but WITHOUT
 * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
 * FOR A PARTICULAR PURPOSE.  See the GNU Lesser General Public License for more
 * details. You should have received a copy of the GNU Lesser General Public
 * License along with this library; if not, write to the Free Software
 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA.
 */
#ifndef _RTAI_ASM_ARM_LXRT_H
#define _RTAI_ASM_ARM_LXRT_H

#include <asm/rtai_vectors.h>

/* define registers (pt_regs) that hold syscall related information for
 * lxrt_intercept_syscall_prologue() (see entry-common.S:vector_swi &
 * adeos.c:__adeos_enter_syscall() in linux/arch/arm/kernel) */
#define RTAI_SYSCALL_NR      ARM_ip     /* syscall number */
#define RTAI_SYSCALL_ARGS    ARM_r0     /* syscall argument */
#define SET_LXRT_RETVAL_IN_SYSCALL(retval)  /* set long long syscall return value */ \
    (*(long long)&r->r0 = (retval))

#define LINUX_SYSCALL_NR      ARM_ip
#define LINUX_SYSCALL_REG1    ARM_r0
#define LINUX_SYSCALL_REG2    ARM_r1
#define LINUX_SYSCALL_REG3    ARM_r2
#define LINUX_SYSCALL_REG4    ARM_r3
#define LINUX_SYSCALL_REG5    ARM_r4
#define LINUX_SYSCALL_REG6    ARM_r5
#define LINUX_SYSCALL_RETREG  ARM_r0

/* endianess */
#define LOW  0
#define HIGH 1

/* for scheduler */
#define USE_LINUX_TIMER         1
#define TIMER_NAME          RTAI_TIMER_NAME
#define TIMER_FREQ          RTAI_TIMER_FREQ
#define TIMER_LATENCY           RTAI_TIMER_LATENCY
#define TIMER_SETUP_TIME        RTAI_TIMER_SETUP_TIME
#define ONESHOT_SPAN \
    (((long long)RTAI_TIMER_MAXVAL * RTAI_TSC_FREQ) / RTAI_TIMER_FREQ)
#define update_linux_timer(cpuid)   __adeos_pend_uncond(RTAI_TIMER_IRQ, cpuid)
/* Adeos/ARM calls all event handlers with hw-interrupts enabled (both in threaded
 * and unthreaded mode), so there is no need for RTAI to do it again. */
#define IN_INTERCEPT_IRQ_ENABLE()   do { /* nop */ } while (0)

union rtai_lxrt_t {
    RTIME rt;
    int i[2];
    void *v[2];
};

#ifdef __cplusplus
extern "C" {
#endif /* __cplusplus */

#ifdef __KERNEL__

#include <asm/system.h>
#include <asm/mmu_context.h>

/* use "extern inline" to force inlining (gcc 3.3.2 does not inline it into
 * lxrt_context_switch() if "static inline" is used) */
extern inline void
_lxrt_context_switch(struct task_struct *prev, struct task_struct *next, int cpuid)
{
    struct mm_struct *oldmm = prev->active_mm;

    ADEOS_PARANOIA_ASSERT(adeos_hw_irqs_disabled());
    ADEOS_PARANOIA_ASSERT(next->active_mm);
#if LINUX_VERSION_CODE < KERNEL_VERSION(2,6,0)
    switch_mm(oldmm, next->active_mm, next, cpuid);
    if (!next->mm)
    enter_lazy_tlb(oldmm, next, cpuid);
#else /* >= 2.6.0 */
    switch_mm(oldmm, next->active_mm, next);
    if (!next->mm)
        enter_lazy_tlb(oldmm, next);
#endif /* < 2.6.0 */
    switch_to(prev, next, prev);
    ADEOS_PARANOIA_ASSERT(adeos_hw_irqs_disabled());
}

#else /* !__KERNEL__ */

static inline union rtai_lxrt_t
rtai_lxrt(short int dynx, short int lsize, int srq, void *arg)
{
    union rtai_lxrt_t retval;
    retval.rt = RTAI_DO_SWI(RTAI_SYS_VECTOR, ENCODE_LXRT_REQ(dynx, srq, lsize), arg);
    return retval;
}

#define rtai_iopl()  do { /* nop */ } while (0)

#endif /* __KERNEL__ */

#ifdef __cplusplus
}
#endif /* __cplusplus */

#endif /* !_RTAI_ASM_ARM_LXRT_H */

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